USPTO Patents Application 10808865

5

Claims

1. A handling device for the repositioning of parts

10 comprising a pivot arm able to be driven by a drive means to
perform an oscillating movement about a stationary first
pivot axis, a handling part serving for carrying a gripper,
which while performing a second pivot movement is able to be
pivoted about a stationary second pivot axis and furthermore

15 is able to be set radially in relation to the second pivot
axis while performing a linear stroke, comprising a path
setting cam extending at least partly around the first pivot
axis, and having two linear terminal sections, the handling
part being engaged with the path setting cam by means of a

20 cam follower, the cam follower being able to be moved

relatively to the pivot arm radially as regards its first
. pivot axis and the pivot arm so acts, during its first
pivoting movement, in a driving manner on the cam follower
that same is shifted along the path setting cam and

25 accordingly the handling part moves, during each handling

cycle, along a handling path, which has two linear terminal
sections, in which the handling part respectively performs
exclusively a linear stroke.

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2. The handling device as set forth in claim 1, wherein
the two linear terminal sections of the path setting cam
extend at a right angle to one another.

3. The handling device as set forth in claim 1, wherein
the longitudinal axes of the two linear terminal sections of
the path setting cam meet at a common point on the second
pivot axis,

4. The handling device as set forth in claim 1, wherein
the pivot arm so engages an entrainment member arranged on
the handling part for drivingly acting on the cam follower
that the entrainment member is kinematically coupled with
the pivot arm in the direction of the first pivotal movement
while however being able to move radially in relation to the
first pivot axis in relation to the first pivot axis.

5. The handling device as set forth in claim 4, wherein
the cam follower and the entrainment member lie in sequence
on a common entrainment axis parallel to the first and the
second pivot axis.

6. The handling device as set forth in claim 1,
comprising a loading means pivoting with the pivot arm and
which takes effect between the pivot arm and the cam
follower and biases the cam follower constantly against a
flank of the path setting cam.

7. The handling device as set forth in claim 1, wherein

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the handling part is a component of a pivotally moving
handling arm, the handling arm additionally having a bearing
part able to pivot to define the second pivot axis, on which
bearing part the handling part is arranged in a linearly
5 adjustable manner for the definition of the axis of the
linear stroke movement.

8. The handling device as set forth in claim 7, wherein
the path setting cam is of slotted design and the cam

10 follower fits into the path setting cam, and to the side

adjacent to at least one of the linear terminal sections of
the path setting cam abutment means are provided, on which
in the terminal position the bearing part rest laterally and
the same is so designed that the cam follower is thrust

15 against the flank on the other side of the path setting cam.

9. The handling device as set forth in claim 1, further
comprising shock absorber means, which are associated with
the two linear terminal sections of the path setting cam and

20 cooperate with the handling part, when same moves into the
respective terminal position as part of the linear stroke
movement .

10. The handling device as set forth in claim 1,

25 wherein the path setting cam extends between the first and

the second pivot axis, the first pivot axis being located on
the concave side of the curvature and the second pivot axis
being located of the convex side of the curvature.

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11.. The handling device as set forth in claim 1,
wherein the second pivot axis is placed as a linear
extension of the linear terminal sections of the path
setting cam, the linear terminal sections having their
closed ends facing away from the second pivot axis.

12. The handling device as set forth in claim 1,
wherein the first pivot axis is placed between the path
setting cam and the second pivot axis.

13. The handling device as set forth in claim 1,
wherein the second pivot axis is placed as a linear
extension of the linear terminal sections path setting cam
the sections having their closed ends directed toward the
second pivot axis.

14. The handling device as set forth in claim 12,
wherein the first pivot axis is approximately surrounded by
the path setting cam, the second pivot axis being attached
in the open region between the two linear terminal sections
of the path setting cam.

15. The handling device as set forth in claim 1,
wherein the angle between the two linear terminal sections
of the path setting cam may be varied.

16. The handling device as set forth in claim 1,
wherein at least one and preferably at least each of the two
linear terminal sections of the path setting cam is able to

be pivoted about a pivot center lying on the second path
setting cam in relation to the respectively other linear
terminal section and is able to be positioned in a different
angular position.

17. The handling device as set forth in claim 16,
wherein the longitudinal axes of the two linear terminal
sections of the path setting cam intersect with the second
pivot axis irrespectively of the instantaneous angular
position.

18. The handling device as set forth in claim 16,
wherein the pivoting terminal section of the path setting
cam is located on a cam member which is pivotally arranged
on a support member in relation to which the first and the
second pivot axis are arranged in a stationary fashion, the
pivot center being preferably arranged on the second pivot
axis .

19. The handling device as set forth in claim 18,
wherein the two linear terminal sections of the path setting
cam are provided on separate, cam members able to be set
independently from each other in relation to the support
body .

20. The handling device as set forth in claim 18,
comprising circularly arcuate guide means for pivotally
bearing the respective cam member in relation to the support
body.

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